CN205060240U - Take light source material frame that can rise automatically suitable for vision robot - Google Patents

Abstract

The name of the utility model is a material frame with a light source that can be automatically lifted and lowered suitable for a visual robot. The invention belongs to the technical field of peripheral equipment of a visual robot system. It mainly solves the problems that the existing material frame has no self-contained light source and the lifting structure is complicated. Its main features are: including the main body of the material frame, the bottom plate of the material frame, the LED light, four pairs of bevel gears, the angle adjustment tool of the LED light, the connecting base, the four support columns of the material frame base, the fixing plate of the material frame base, the travel switch, the stroke Switch contacts and hydraulic cylinders, etc.; four LED lamp rotation shafts, LED lamp connection bases, LED lamps, four pairs of bevel gears, and LED lamp angle adjustment tools are installed on the four frames of the main body of the material frame; the support columns of the material frame base and The hydraulic cylinder is fixed on the fixed plate of the material frame base. The utility model has the characteristics that the pictures taken by the visual system can meet the requirements of use and can realize the long-term stay of each layer of material in a specific position. It is mainly used for a robot with a light source and an automatic lifting material frame.

Description

Automatic lifting and lowering material frame with light source suitable for vision robots

technical field

The utility model belongs to the technical field of peripheral equipment of a visual robot system, in particular to an automatic lifting material frame with a light source suitable for a visual robot.

Background technique

Installing a light source on the material frame to assist the visual robot system to improve image quality has not yet found a patent application for a similar structural solution in Chinese patents; in terms of automatic lifting of the material frame, there are some similar Chinese patents, such as Chinese patent CN104260979A (multi-layer semi-automatic material basket suitable for industrial robots) mentions a similar mechanism, which is all mechanical structure, complex structure, low load capacity, and each layer of material needs a panel, which brings a lot of trouble for loading materials. Big inconvenience.

In actual production, in order to improve processing efficiency and facilitate transportation, the workpieces in the material frame are generally multi-layered, and each layer contains multiple workpieces. With the development of industrial technology, the use of robots for automatic loading and unloading has become an inevitable trend. However, the main difficulty of using robots for loading and unloading is the precise positioning of the workpiece, which can be solved by using the vision system. To improve the positioning accuracy of the workpiece to meet the conditions of use, the quality of the pictures taken by the vision system is required to be very high. However, any camera system has a certain depth of field. To clearly capture multi-layer workpieces, either the camera can move up and down, or the material can be automatically lifted. Because the camera in the vision system is a precision instrument, it needs to be re-calibrated after being moved. Therefore, it is often required to keep the position unchanged after the installation is completed, so that the workpiece can be automatically raised and lowered. On the other hand, the environment in the factory is complex, with various signal lights, fluorescent lamps, noise, reflected light, natural light and other influencing factors. If you want to take high-quality pictures in the factory, you need to provide a specific light source for the workpiece. If a group of light sources is separately designed and installed in the working area of the material frame, the cost is high and the handling of the material frame will be affected. Therefore, this kind of material frame with its own light source is designed, and the bottom plate of the material frame can carry the material to move up and down, which solves the problem that the camera cannot move up and down when shooting multi-layer materials.

Contents of the invention

The purpose of this utility model is to effectively solve the problem that the camera needs to move when using the camera to shoot multi-layer materials in the material frame in the automated factory, and to reduce the impact of various light sources (such as fluorescent lamps and sunlight) on the quality of the photographed pictures in the factory environment. Influence, provide a material frame that can provide light source by itself and can automatically lift the material to assist the machine vision system, and can ensure that each layer of material in the material frame can be grasped at the same height, avoiding the The effect of well depth on the robot's grasping of materials. There are multiple materials in each layer in the material box. After each layer of materials reaches the designated position, it is necessary to visually locate, grab, install, and process each material in each layer of materials. It takes a certain amount of time to use the pressure maintaining function of the hydraulic system. , each layer of material can stay in a specific position for a long time.

The technical solution of the utility model is: an automatic lifting material frame with a light source suitable for visual robots, including a material frame body welded by profiles, characterized in that: the bottom of the material frame body includes a material frame bottom plate Base and movable material frame bottom plate; also includes four sets of LED lights, LED light angle adjustment tools, four pairs of bevel gears, LED light fastening screws, four LED light rotation shafts, LED light connection base, LED light and shaft connectors , four material frame base support columns, material frame base fixing plate, travel switch, travel switch contact and hydraulic cylinder; the four LED lamp rotation axes are respectively installed on the four frames of the material frame main body through the LED lamp connection base, and the four Groups of LED lamps are respectively installed on the four LED lamp rotation shafts through the LED lamp and shaft connectors. The conical gears are installed at both ends of the LED lamp rotation shafts, and the adjacent bevel gears on the adjacent LED lamp rotation shafts are meshed; the angle of the LED lamps is adjusted. The tool is set at the axial end of the LED lamp rotation shaft, and the front end shape of the LED lamp angle adjustment tool matches the positioning hole at the axial end of the LED lamp rotation shaft; there are four LED lamp fastening screws, which are respectively installed on the LED lamp Connected to the base; the support column of the material frame base is fixed on the material frame base fixing plate corresponding to the four corners of the material frame main body, and the hydraulic cylinder is fixed on the material frame base fixing plate between the material frame base support columns; the travel switch is installed on the material frame On the support column of the base, the travel switch contact is connected on the lever of the hydraulic cylinder.

The bottom four corners of the main body of the material frame described in the technical solution of the utility model are provided with inverted T-shaped legs, which cooperate with the grooves provided on the support column of the material frame base.

There are four hydraulic cylinders described in the technical solution of the utility model.

In the technical solution of the utility model, steel bars arranged at intervals and smooth in surface are vertically welded inside the main body of the material frame.

The travel switch described in the technical solution of the utility model is arranged on different height positions of the support column of the base of the material frame, and can be adjusted according to actual needs.

The innovations of this utility model are as follows: 1. Install four groups of LED light sources with adjustable light irradiation angles on the material frame along the edge of the material frame. The light source can illuminate materials of different heights to create a better picture shooting environment. To improve the stability and anti-interference ability of the visual system; 2. The bottom plate of the material frame and the main body of the material frame are slider mechanisms, which are not only convenient for transportation, but also can be driven by the hydraulic cylinder on the base of the material basket to realize the material in the material basket. It rises automatically, so that each layer of material can reach the best shooting position; 3. Connect the contact to the cylinder rod of the hydraulic cylinder, and cooperate with the travel switch to control the rising height of the material stably and reliably.

The positive effect of the utility model is: the material frame can provide various lighting methods for materials, effectively weaken the influence of factory ambient light on the quality of pictures taken, and improve the quality of pictures taken by the visual system; the hydraulic system can respond quickly and stably Send each layer of material to the best shooting position; the pressure maintaining function of the hydraulic system can realize that each layer of material stays in a specific position for a long time, providing sufficient time for subsequent processing.

The utility model is mainly suitable for a visual robot with a light source that can automatically lift and lower the material frame.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a schematic diagram of the main structure of the material frame of the present invention.

Fig. 3 is a structural schematic diagram of the material frame base of the utility model.

Fig. 4 is a schematic diagram of the installation method and angle adjustment method of the LED lamp of the present invention.

In the figure: 1. The main body of the material frame; 2. The support column of the material frame base; 3. The fixing plate of the material frame base; 4. The angle adjustment tool of the LED light; 5. The bevel gear; 6. The fastening screw of the LED light; ;8. Travel switch contacts; 9. Hydraulic cylinder; 10. Inverted T-shaped material frame legs; 11. LED lamp rotation shaft; 12. LED lamp connection base; 13. LED lamp and shaft connector; 14. LED lamp ; 15, material frame bottom plate.

detailed description

The present invention will be further described in conjunction with the accompanying drawings and embodiments.

The utility model is suitable for a visual robot with a light source and can automatically lift the material frame, which includes a material frame main body 1, a material frame bottom plate 15, four groups of LED lights 14, an LED light angle adjustment tool 4, a conical gear 5, and LED light fastening screws 6. Four LED lamp rotation shafts 11, LED lamp connection base 12, LED lamp and shaft connector 13, material frame base support column 2, material frame base fixed plate 3, travel switch 7, travel switch contact 8 and hydraulic cylinder 9.

As shown in Figure 1 and Figure 2. The main body 1 of the material frame is welded by profiles, and the skeleton is composed of angle steel and rectangular steel, which mainly bears the gravity of the material and various external forces during the handling process. Several thin steel bars with smooth surface are vertically welded inside to reduce the friction between the bottom plate and the main body of the material frame, and at the same time reduce the pores of the material frame to ensure that the material will not fall during transportation. The bottom of the material frame is strengthened to ensure the reliability of the bottom plate during transportation and handling.

As shown in Figure 1 and Figure 3. There are four material frame base support columns 2, which are fixed on the material frame base fixing plate 3 corresponding to the four corners of the material frame main body 1, and are used to support the material basket to a certain height, providing space for the installation of the hydraulic cylinder 9. There is a groove above the base support column 2, which is used for positioning and fixing the main body of the material frame.

As shown in Figure 1 and Figure 3. The material frame base fixing plate 3 is used to connect the material frame base support column 2 and the hydraulic cylinder 9, and plays the role of fixing them on the ground.

As shown in Figure 1 and Figure 4. The LED lamp angle adjustment tool 4 is used to assist in adjusting the angle of the lamp. The cuboid in the front section of the tool matches the cuboid hole on the end face of the LED lamp rotating shaft, and the angle of the lamp can be adjusted by rotating the tool.

As shown in Figure 1 and Figure 4. Four pairs of bevel gears 5 are installed on the rotating shaft 11 of the LED lamp, so that four groups of LED lamps can operate at the same time, and the adjusted angles are the same.

As shown in Figure 1 and Figure 4. There are four LED lamp fastening screws 6, which are respectively installed on the LED lamp connection base. When the angle of the lamp needs to be adjusted, the four screws are first loosened, and then the screws are fixed after adjustment.

As shown in Figure 1 and Figure 3. Travel switch 7 is installed on the material frame base support column 2, and its position is adjustable, is used for adjusting material height, and controls the height that material rises each time, generally several layers of materials just need several travel switches.

The stroke switch contact 8 is connected to the cylinder rod of the hydraulic cylinder 9, and can be linked with the hydraulic cylinder 9 to reflect the rising height of the hydraulic cylinder.

The utility model adopts four identical hydraulic cylinders 9 as the power source for the material movement in the material frame. The type of the hydraulic cylinder 9 can be selected according to actual needs. Compared with other lifting mechanisms, the hydraulic system has the advantages of convenient installation, simple design, and easy control. Advantages, general machine tools have their own hydraulic stations, and only need to use hydraulic components (solenoid valves, overflow valves, check valves, etc.) to design a simple hydraulic system to realize the motion control of the material frame.

As shown in Figure 1 and Figure 2. The four corners of the bottom of the material frame main body 1 are provided with inverted T-shaped legs, which cooperate with the grooves provided on the support column 2 of the material frame base for positioning and fixing the material frame.

LED lamp rotating shaft 11 is smooth elongated shaft, and material can be stainless steel, and LED lamp 14, bevel gear 5 etc. are fixed on the shaft. There are four pieces, two long and two short. When installing, first pass the shaft through the LED lamp to connect the base 12 (there is a gap fit between the two), and then install the bevel gear 5 (interference fit), the LED lamp and the shaft connector (screw , spring connection).

As shown in Figure 1 and Figure 4. LED lamp is connected base 12, LED lamp and shaft connector 13, and material can be plastics, is connected on the material frame with screw.

The LED lamp 14 is welded on the PCB, and then mounted on the LED lamp and the shaft connector 13 by screws, and the number and color of the lamps can be selected according to actual needs.

The bottom plate 15 of the material frame is a steel plate, and the specific structural size needs to ensure a certain gap with the main body of the material frame, and has a certain strength and rigidity to meet the needs of the material frame during use.

Determine the placement position and height of the material frame, design the specific size of the material frame and the material frame base, install the equipment on the material frame (LED lights) and the material frame base equipment (hydraulic cylinder) according to the requirements of use, and install the material frame base equipment (hydraulic cylinder) according to the actual situation. The material frame base is fixed at the specified position, and the hydraulic system is designed and connected.

Accurately install the loaded material frame on the base of the material basket, that is, put the legs 10 of the inverted T-shaped material frame into the groove opened on the support column 2 of the material frame base; start the hydraulic system, adjust the position of the material in the material frame, Make the top layer of material reach the best pick-up position; adjust the travel switch on the base of the material frame so that the travel switch closest to the base is aligned with the contact; determine the number of travel switches according to the number of layers of the material frame, and determine the number of travel switches according to the height of each layer of material , adjust the relative position of each travel switch, and write down the loading situation of the material frame.

Turn on the power supply of the LED light, turn on the LED light, and start the camera drive system; loosen the fastening screw 6 of the LED light, insert the angle adjustment tool 4 of the LED light into the groove at the end of the rotating shaft of the LED light, and adjust the irradiation angle of the LED light so that it reaches For the best imaging effect, tighten the fastening screw 6 of the LED light, fix the LED light, and note down the inclination angle of the LED light.

If the type of material is not changed each time, and the loading method of the material in the material box is not changed, it is only necessary to adjust the inclination angle of the LED light and place the position of the material basket accurately each time.

Claims (5)

1. An automatic lifting material frame with a light source suitable for visual robots, including a material frame body (1) welded by profiles, characterized in that: the bottom of the material frame body (1) includes a material frame bottom plate base and movable material frame bottom plate (15); also includes four groups of LED lamps (14), LED lamp angle adjustment tool (4), four pairs of bevel gears (5), LED lamp fastening screws (6), four LED lamps Rotation shaft (11), LED light connection base (12), LED light and shaft connection piece (13), four material frame base support columns (2), material frame base fixing plate (3), travel switch (7), Travel switch contacts (8) and hydraulic cylinders (9); four LED lamp rotation shafts (11) are respectively installed on the four frames of the material frame main body (1) through LED lamp connection bases (12), and four sets of LED lamps (14) are respectively installed on the four LED lamp rotation shafts (11) through the LED lamp and the shaft connector (13), and the bevel gear (5) is installed on both ends of the LED lamp rotation shaft (11), and the adjacent LED lamps rotate The adjacent bevel gears (5) on the shaft (11) mesh; the LED lamp angle adjustment tool (4) is arranged at the axial end of the LED lamp rotation shaft (11), and the shape of the front end of the LED lamp angle adjustment tool (4) Cooperate with the positioning hole at the axial end of the LED lamp rotation shaft (11); there are four LED lamp fastening screws (6), which are respectively installed on the LED lamp connection base; the material frame base support column (2) is fixed on the On the frame base fixing plate (3) corresponding to the four corners of the frame main body (1), the hydraulic cylinder (9) is fixed on the material frame base fixing plate (3) between the support columns (2) of the material frame base; the travel switch (7 ) is installed on the support column (2) of the material frame base, and the travel switch contact (8) is connected to the cylinder rod of the hydraulic cylinder (9). 2. The automatically lifting material frame with light source suitable for visual robots according to claim 1, characterized in that: the four corners of the bottom of the material frame main body (1) are provided with inverted T-shaped legs, which are connected with the material frame The groove that is provided with on the base support column (2) cooperates. 3. The automatic lifting material frame with light source suitable for visual robots according to claim 1 or 2, characterized in that there are four hydraulic cylinders (9). 4. The automatic liftable material frame with light source suitable for visual robots according to claim 1 or 2, characterized in that: the inside of the material frame main body (1) is vertically welded with steel bars arranged at intervals and with a smooth surface. 5. The automatic lifting material frame with light source suitable for visual robots according to claim 1 or 2, characterized in that: the travel switch (7) is set at different height positions of the support column (2) of the material frame base superior.